diff --git a/index.html b/index.html
index 29ccfa1..be97f45 100644
--- a/index.html
+++ b/index.html
@@ -26,21 +26,21 @@
                 <legend>Translation &amp; Rotation</legend>
 
                 <div class="control-group">
-                    <label for="vx-slider">Move Forward/Backward (pixels/s)</label>
-                    <input type="range" id="vx-slider" min="-300" max="300" step="0.1" value="0">
-                    <output id="vx-value">0.0</output>
+                    <label for="vx-slider">Strafe Left/Right (pixels/s)</label>
+                    <input type="range" id="vx-slider" min="-300" max="300" step="10" value="0">
+                    <output id="vx-value">0</output>
                 </div>
 
                 <div class="control-group">
-                    <label for="vy-slider">Strafe Left/Right (pixels/s)</label>
-                    <input type="range" id="vy-slider" min="-300" max="300" step="0.1" value="0">
-                    <output id="vy-value">0.0</output>
+                    <label for="vy-slider">Move Forward/Backward (pixels/s)</label>
+                    <input type="range" id="vy-slider" min="-300" max="300" step="10" value="0">
+                    <output id="vy-value">0</output>
                 </div>
 
                 <div class="control-group">
                     <label for="omega-slider">Rotation (rad/s)</label>
                     <input type="range" id="omega-slider" min="-3" max="3" step="0.1" value="0">
-                    <output id="omega-value">0.0</output>
+                    <output id="omega-value">0</output>
                 </div>
 
                 <button id="reset-btn" type="button">Reset Controls</button>
@@ -51,8 +51,8 @@
 
                 <div class="control-group">
                     <label for="max-speed-slider">Max Module Speed (pixels/s)</label>
-                    <input type="range" id="max-speed-slider" min="1" max="300" step="0.1" value="4">
-                    <output id="max-speed-value">4.0</output>
+                    <input type="range" id="max-speed-slider" min="1" max="300" step="10" value="150">
+                    <output id="max-speed-value">0</output>
                 </div>
             </fieldset>
         </section>
diff --git a/script.js b/script.js
index 2a5f743..5e374cb 100644
--- a/script.js
+++ b/script.js
@@ -55,7 +55,7 @@ class SwerveDrive {
         );
     }
 
-    drive(velocityX, velocityY, turnSpeed, maxSpeed) {
+    drive(velocityX, velocityY, turnSpeed, maxModuleSpeed) {
         // Take in a requested speeds and update every module
         this.modules.forEach(module =>
             module.calculateState(velocityX, velocityY, turnSpeed)
@@ -63,8 +63,8 @@ class SwerveDrive {
 
         // If any speeds exceed the max speed, normalize down so we don't effect movement direction
         const maxCalculated = Math.max(...this.modules.map(m => m.speed), 0);
-        if (maxCalculated > maxSpeed) {
-            const scale = maxSpeed / maxCalculated;
+        if (maxCalculated > maxModuleSpeed) {
+            const scale = maxModuleSpeed / maxCalculated;
             this.modules.forEach(module => {
                 module.velocity.x *= scale;
                 module.velocity.y *= scale;
@@ -169,19 +169,33 @@ const preset8WheelBtn = document.getElementById('preset-8wheel');
 
 // Add event listeners for drive controls
 vxSlider.addEventListener('input', (e) => {
-    vxOutput.textContent = parseFloat(e.target.value).toFixed(1);
+    vxOutput.textContent = parseFloat(e.target.value);
 });
+vxOutput.textContent = parseFloat(vxSlider.value);
 
 vySlider.addEventListener('input', (e) => {
-    vyOutput.textContent = parseFloat(e.target.value).toFixed(1);
+    vyOutput.textContent = parseFloat(e.target.value);
 });
+vyOutput.textContent = parseFloat(vySlider.value);
 
 omegaSlider.addEventListener('input', (e) => {
-    omegaOutput.textContent = parseFloat(e.target.value).toFixed(1);
+    omegaOutput.textContent = parseFloat(e.target.value);
 });
+omegaOutput.textContent = parseFloat(omegaSlider.value);
 
 maxSpeedSlider.addEventListener('input', (e) => {
-    maxSpeedOutput.textContent = parseFloat(e.target.value).toFixed(1);
+    maxSpeedOutput.textContent = parseFloat(e.target.value);
+});
+maxSpeedOutput.textContent = parseFloat(maxSpeedSlider.value);
+
+resetBtn.addEventListener('click', (e) => {
+    vxSlider.value = 0;
+    vySlider.value = 0;
+    omegaSlider.value = 0;
+
+    vxOutput.textContent = parseFloat(vxSlider.value);
+    vyOutput.textContent = parseFloat(vySlider.value);
+    omegaOutput.textContent = parseFloat(omegaSlider.value);
 });
 
 
@@ -338,7 +352,7 @@ function animate() {
 
     // Update speeds based on sliders
     xSpeed = parseFloat(vxSlider.value);
-    ySpeed = parseFloat(vySlider.value);
+    ySpeed = -parseFloat(vySlider.value);
     turnSpeed = parseFloat(omegaSlider.value);
 
     // Animate the grid with robot movement
@@ -360,7 +374,7 @@ function animate() {
     drawGrid(ctx, canvas.width * 2, gridSquareSize, xGridOffset, yGridOffset, robotRotation);
     drawRobot(ctx, robot);
 
-    robot.drive(xSpeed, ySpeed, turnSpeed, 500);
+    robot.drive(xSpeed, ySpeed, turnSpeed, parseFloat(maxSpeedSlider.value));
 
     // Do it all over again
     ctx.restore();